ALGORITHM OF THE ROBOT MOTION CONTROL IN THE CONDITIONS OF NON-DETERMINISTIC INFORMATION ABOUT THE EXTERNAL ENVIRONMENT
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Abstract
Planning for the robot in a non-deterministic information about the external environment often makes assumptions about the famous geometry constraints and opportunities to predict the trajectory of the extrapolation that in reality impossible. Was introduced algorithm collision-free perceiver (CFP – contactless receptive), which can detect the path free of collision with known geometry and motion. In this paper we consider how to use the CFP in real time, the robot with n degrees of freedom, with unknown trajectory sizes and obstacles minimizes the amount of hazardous stops when the robot would collide with the object.
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